<html lang="en">
    <head>
        <title>Ammo.js softbody volume demo</title>
        <meta charset="utf-8">
        <meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
        <style>
            body {
                color: #61443e;
                font-family:Monospace;
                font-size:13px;
                text-align:center;

                background-color: #bfd1e5;
                margin: 0px;
                overflow: hidden;
            }

            #info {
                position: absolute;
                top: 0px; width: 100%;
                padding: 5px;
            }

            a {

                color: #a06851;
            }

        </style>
    </head>
    <body>
	<div id="info">Ammo.js physics soft body volume demo<br>Click to throw a ball</div>
        <div id="container"><br /><br /><br /><br /><br />Loading...</div>

	<script src="../build/three.js"></script>
	<script src="js/libs/ammo.js"></script>
	<script src="js/controls/OrbitControls.js"></script>
        <script src="js/Detector.js"></script>
	<script src="js/libs/stats.min.js"></script>

        <script>

		// Detects webgl
		if ( ! Detector.webgl ) {
		    Detector.addGetWebGLMessage();
		    document.getElementById( 'container' ).innerHTML = "";
		}

		// - Global variables -

		// Graphics variables
		var container, stats;
		var camera, controls, scene, renderer;
		var textureLoader;
		var clock = new THREE.Clock();
		var clickRequest = false;
		var mouseCoords = new THREE.Vector2();
		var raycaster = new THREE.Raycaster();
		var ballMaterial = new THREE.MeshPhongMaterial( { color: 0x202020 } );
		var pos = new THREE.Vector3();
		var quat = new THREE.Quaternion();

		// Physics variables
		var gravityConstant = -9.8;
		var collisionConfiguration;
		var dispatcher;
		var broadphase;
		var solver;
		var physicsWorld;
		var rigidBodies = [];
		var softBodies = [];
		var margin = 0.05;
		var hinge;
		var transformAux1 = new Ammo.btTransform();
		var softBodyHelpers = new Ammo.btSoftBodyHelpers();

		var armMovement = 0;

		// - Main code -

		init();
		animate();


		// - Functions -

		function init() {

			initGraphics();

			initPhysics();

			createObjects();

			initInput();

		}

		function initGraphics() {

			container = document.getElementById( 'container' );

			camera = new THREE.PerspectiveCamera( 60, window.innerWidth / window.innerHeight, 0.2, 2000 );

			scene = new THREE.Scene();

			camera.position.x = -7;
			camera.position.y = 5;
			camera.position.z =  8;

			controls = new THREE.OrbitControls( camera );
			controls.target.y = 2;

			renderer = new THREE.WebGLRenderer();
			renderer.setClearColor( 0xbfd1e5 );
			renderer.setPixelRatio( window.devicePixelRatio );
			renderer.setSize( window.innerWidth, window.innerHeight );
			renderer.shadowMap.enabled = true;

			textureLoader = new THREE.TextureLoader();

			var ambientLight = new THREE.AmbientLight( 0x404040 );
			scene.add( ambientLight );

			var light = new THREE.DirectionalLight( 0xffffff, 1 );
			light.position.set( -10, 10, 5 );
			light.castShadow = true;
			var d = 20;
			light.shadow.camera.left = -d;
			light.shadow.camera.right = d;
			light.shadow.camera.top = d;
			light.shadow.camera.bottom = -d;

			light.shadow.camera.near = 2;
			light.shadow.camera.far = 50;

			light.shadow.mapSize.x = 1024;
			light.shadow.mapSize.y = 1024;

			scene.add( light );


			container.innerHTML = "";

			container.appendChild( renderer.domElement );

			stats = new Stats();
			stats.domElement.style.position = 'absolute';
			stats.domElement.style.top = '0px';
			container.appendChild( stats.domElement );


			window.addEventListener( 'resize', onWindowResize, false );

		}

		function initPhysics() {

			// Physics configuration

			collisionConfiguration = new Ammo.btSoftBodyRigidBodyCollisionConfiguration();
			dispatcher = new Ammo.btCollisionDispatcher( collisionConfiguration );
			broadphase = new Ammo.btDbvtBroadphase();
			solver = new Ammo.btSequentialImpulseConstraintSolver();
			softBodySolver = new Ammo.btDefaultSoftBodySolver();
			physicsWorld = new Ammo.btSoftRigidDynamicsWorld( dispatcher, broadphase, solver, collisionConfiguration, softBodySolver);
			physicsWorld.setGravity( new Ammo.btVector3( 0, gravityConstant, 0 ) );
			physicsWorld.getWorldInfo().set_m_gravity( new Ammo.btVector3( 0, gravityConstant, 0 ) );

		}

		function createObjects() {

			// Ground
			pos.set( 0, - 0.5, 0 );
			quat.set( 0, 0, 0, 1 );
			var ground = createParalellepiped( 40, 1, 40, 0, pos, quat, new THREE.MeshPhongMaterial( { color: 0xFFFFFF } ) );
			ground.castShadow = true;
			ground.receiveShadow = true;
			textureLoader.load( "textures/grid.png", function( texture ) {
				texture.wrapS = THREE.RepeatWrapping;
				texture.wrapT = THREE.RepeatWrapping;
				texture.repeat.set( 40, 40 );
				ground.material.map = texture;
				ground.material.needsUpdate = true;
			} );


			// Create soft volumes
			var volumeMass = 15;

			var sphereGeometry = new THREE.SphereBufferGeometry( 1.5, 40, 25 );
			sphereGeometry.translate( 5, 5, 0 );
			createSoftVolume( sphereGeometry, volumeMass, 250 );

			var boxGeometry = new THREE.BufferGeometry().fromGeometry( new THREE.BoxGeometry( 1, 1, 5, 4, 4, 20 ) );
			boxGeometry.translate( -2, 5, 0 );
			createSoftVolume( boxGeometry, volumeMass, 120 );

			// Ramp
			pos.set( 3, 1, 0 );
			quat.setFromAxisAngle( new THREE.Vector3( 0, 0, 1 ), 30 * Math.PI / 180 );
			var obstacle = createParalellepiped( 10, 1, 4, 0, pos, quat, new THREE.MeshPhongMaterial( { color: 0x606060 } ) );
			obstacle.castShadow = true;
			obstacle.receiveShadow = true;

		}

		function processGeometry( bufGeometry ) {

			// Obtain a Geometry
			var geometry = new THREE.Geometry().fromBufferGeometry( bufGeometry );

			// Merge the vertices so the triangle soup is converted to indexed triangles
			var vertsDiff = geometry.mergeVertices();

			// Convert again to BufferGeometry, indexed
			var indexedBufferGeom = createIndexedBufferGeometryFromGeometry( geometry );

			// Create index arrays mapping the indexed vertices to bufGeometry vertices
			mapIndices( bufGeometry, indexedBufferGeom );

		}

		function createIndexedBufferGeometryFromGeometry( geometry ) {

			var numVertices = geometry.vertices.length;
			var numFaces = geometry.faces.length;

			var bufferGeom = new THREE.BufferGeometry();
			var vertices = new Float32Array( numVertices * 3 );
			var indices = new ( numFaces * 3 > 65535 ? Uint32Array : Uint16Array )( numFaces * 3 );

			for ( var i = 0; i < numVertices; i++ ) {

				var p = geometry.vertices[ i ];

				var i3 = i * 3;

				vertices[ i3 ] = p.x;
				vertices[ i3 + 1 ] = p.y;
				vertices[ i3 + 2 ] = p.z;

			}

			for ( var i = 0; i < numFaces; i++ ) {

				var f = geometry.faces[ i ];

				var i3 = i * 3;

				indices[ i3 ] = f.a;
				indices[ i3 + 1 ] = f.b;
				indices[ i3 + 2 ] = f.c;

			}

			bufferGeom.setIndex( new THREE.BufferAttribute( indices, 1 ) );
			bufferGeom.addAttribute( 'position', new THREE.BufferAttribute( vertices, 3 ) );

			return bufferGeom;
		}

		function isEqual( x1, y1, z1, x2, y2, z2 ) {

			var delta = 0.000001;
			return Math.abs( x2 - x1 ) < delta &&
			    Math.abs( y2 - y1 ) < delta &&
			    Math.abs( z2 - z1 ) < delta;

		}

		function mapIndices( bufGeometry, indexedBufferGeom ) {

			// Creates ammoVertices, ammoIndices and ammoIndexAssociation in bufGeometry

			var vertices = bufGeometry.attributes.position.array;
			var idxVertices = indexedBufferGeom.attributes.position.array;
			var indices = indexedBufferGeom.index.array;

			var numIdxVertices = idxVertices.length / 3;
			var numVertices = vertices.length / 3;

			bufGeometry.ammoVertices = idxVertices;
			bufGeometry.ammoIndices = indices;
			bufGeometry.ammoIndexAssociation = [];

			for ( var i = 0; i < numIdxVertices; i++ ) {

				var association = [];
				bufGeometry.ammoIndexAssociation.push( association );

				var i3 = i * 3;

				for ( var j = 0; j < numVertices; j++ ) {

					var j3 = j * 3;
					if ( isEqual( idxVertices[ i3 ], idxVertices[ i3 + 1 ],  idxVertices[ i3 + 2 ],
						      vertices[ j3 ], vertices[ j3 + 1 ], vertices[ j3 + 2 ] ) ) {
					    association.push( j3 );
					}

				}

			}

		}

		function createSoftVolume( bufferGeom, mass, pressure ) {

			processGeometry( bufferGeom );

			var volume = new THREE.Mesh( bufferGeom, new THREE.MeshPhongMaterial( { color: 0xFFFFFF } ) );
			volume.castShadow = true;
			volume.receiveShadow = true;
			volume.frustumCulled = false;
			scene.add( volume );

			textureLoader.load( "textures/colors.png", function( texture ) {
			    volume.material.map = texture;
			    volume.material.needsUpdate = true;
			} );

			// Volume physic object

			var volumeSoftBody = softBodyHelpers.CreateFromTriMesh(
			    physicsWorld.getWorldInfo(),
			    bufferGeom.ammoVertices,
			    bufferGeom.ammoIndices,
			    bufferGeom.ammoIndices.length / 3,
			    true );

			var sbConfig = volumeSoftBody.get_m_cfg();
			sbConfig.set_viterations( 40 );
			sbConfig.set_piterations( 40 );

			// Soft-soft and soft-rigid collisions
			sbConfig.set_collisions( 0x11 );

			// Friction
			sbConfig.set_kDF( 0.1 );
			// Damping
			sbConfig.set_kDP( 0.01 );
			// Pressure
			sbConfig.set_kPR( pressure );
			// Stiffness
			volumeSoftBody.get_m_materials().at( 0 ).set_m_kLST( 0.9 );
			volumeSoftBody.get_m_materials().at( 0 ).set_m_kAST( 0.9 );

			volumeSoftBody.setTotalMass( mass, false )
			Ammo.castObject( volumeSoftBody, Ammo.btCollisionObject ).getCollisionShape().setMargin( margin );
			physicsWorld.addSoftBody( volumeSoftBody, 1, -1 );
			volume.userData.physicsBody = volumeSoftBody;
			// Disable deactivation
			volumeSoftBody.setActivationState( 4 );

			softBodies.push( volume );

		}

		function createParalellepiped( sx, sy, sz, mass, pos, quat, material ) {

			var threeObject = new THREE.Mesh( new THREE.BoxGeometry( sx, sy, sz, 1, 1, 1 ), material );
			var shape = new Ammo.btBoxShape( new Ammo.btVector3( sx * 0.5, sy * 0.5, sz * 0.5 ) );
			shape.setMargin( margin );

			createRigidBody( threeObject, shape, mass, pos, quat );

			return threeObject;

		}

		function createRigidBody( threeObject, physicsShape, mass, pos, quat ) {

			threeObject.position.copy( pos );
			threeObject.quaternion.copy( quat );

			var transform = new Ammo.btTransform();
			transform.setIdentity();
			transform.setOrigin( new Ammo.btVector3( pos.x, pos.y, pos.z ) );
			transform.setRotation( new Ammo.btQuaternion( quat.x, quat.y, quat.z, quat.w ) );
			var motionState = new Ammo.btDefaultMotionState( transform );

			var localInertia = new Ammo.btVector3( 0, 0, 0 );
			physicsShape.calculateLocalInertia( mass, localInertia );

			var rbInfo = new Ammo.btRigidBodyConstructionInfo( mass, motionState, physicsShape, localInertia );
			var body = new Ammo.btRigidBody( rbInfo );

			threeObject.userData.physicsBody = body;

			scene.add( threeObject );

			if ( mass > 0 ) {

				rigidBodies.push( threeObject );

				// Disable deactivation
				body.setActivationState( 4 );

			}

			physicsWorld.addRigidBody( body );

		    return body;
		}

		function initInput() {

			window.addEventListener( 'mousedown', function( event ) {

				if ( ! clickRequest ) {

					mouseCoords.set(
						( event.clientX / window.innerWidth ) * 2 - 1,
						- ( event.clientY / window.innerHeight ) * 2 + 1
					);

					clickRequest = true;

				}

			}, false );

		}

		function processClick() {

			if ( clickRequest ) {

				raycaster.setFromCamera( mouseCoords, camera );

				// Creates a ball
				var ballMass = 3;
				var ballRadius = 0.4;

				var ball = new THREE.Mesh( new THREE.SphereGeometry( ballRadius, 18, 16 ), ballMaterial );
				ball.castShadow = true;
				ball.receiveShadow = true;
				var ballShape = new Ammo.btSphereShape( ballRadius );
				ballShape.setMargin( margin );
				pos.copy( raycaster.ray.direction );
				pos.add( raycaster.ray.origin );
				quat.set( 0, 0, 0, 1 );
				var ballBody = createRigidBody( ball, ballShape, ballMass, pos, quat );
				ballBody.setFriction( 0.5 );

				pos.copy( raycaster.ray.direction );
				pos.multiplyScalar( 14 );
				ballBody.setLinearVelocity( new Ammo.btVector3( pos.x, pos.y, pos.z ) );

				clickRequest = false;

			}

		}

		function onWindowResize() {

			camera.aspect = window.innerWidth / window.innerHeight;
			camera.updateProjectionMatrix();

			renderer.setSize( window.innerWidth, window.innerHeight );

		}

		function animate() {

			requestAnimationFrame( animate );

			render();
			stats.update();

		}

		function render() {

			var deltaTime = clock.getDelta();

			updatePhysics( deltaTime );

			processClick();

			controls.update( deltaTime );

			renderer.render( scene, camera );

		}

		function updatePhysics( deltaTime ) {

			// Step world
			physicsWorld.stepSimulation( deltaTime, 10 );

			// Update soft volumes
			for ( var i = 0, il = softBodies.length; i < il; i++ ) {
				var volume = softBodies[ i ];
				var geometry = volume.geometry;
				var softBody = volume.userData.physicsBody;
				var volumePositions = geometry.attributes.position.array;
				var volumeNormals = geometry.attributes.normal.array;
				var association = geometry.ammoIndexAssociation;
				var numVerts = association.length;
				var nodes = softBody.get_m_nodes();
				for ( var j = 0; j < numVerts; j ++ ) {

					var node = nodes.at( j );
					var nodePos = node.get_m_x();
					var x = nodePos.x();
					var y = nodePos.y();
					var z = nodePos.z();
					var nodeNormal = node.get_m_n();
					var nx = nodeNormal.x();
					var ny = nodeNormal.y();
					var nz = nodeNormal.z();

					var assocVertex = association[ j ];

					for ( var k = 0, kl = assocVertex.length; k < kl; k++ ) {
						var indexVertex = assocVertex[ k ];
						volumePositions[ indexVertex ] = x;
						volumeNormals[ indexVertex ] = nx;
						indexVertex++;
						volumePositions[ indexVertex ] = y;
						volumeNormals[ indexVertex ] = ny;
						indexVertex++;
						volumePositions[ indexVertex ] = z;
						volumeNormals[ indexVertex ] = nz;
					}
				}

				geometry.attributes.position.needsUpdate = true;
				geometry.attributes.normal.needsUpdate = true;

			}

			// Update rigid bodies
			for ( var i = 0, il = rigidBodies.length; i < il; i++ ) {
				var objThree = rigidBodies[ i ];
				var objPhys = objThree.userData.physicsBody;
				var ms = objPhys.getMotionState();
				if ( ms ) {

					ms.getWorldTransform( transformAux1 );
					var p = transformAux1.getOrigin();
					var q = transformAux1.getRotation();
					objThree.position.set( p.x(), p.y(), p.z() );
					objThree.quaternion.set( q.x(), q.y(), q.z(), q.w() );

				}
			}

		}

        </script>

    </body>
</html>
